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svo
Semi-Direct Visual Odometry
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svo
Semi-Direct Visual Odometry
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Base class for various VO pipelines. Manages the map and the state machine. More...
#include <frame_handler_base.h>
Public Types | |
| enum | Stage { STAGE_PAUSED, STAGE_FIRST_FRAME, STAGE_SECOND_FRAME, STAGE_DEFAULT_FRAME, STAGE_RELOCALIZING } |
| enum | TrackingQuality { TRACKING_INSUFFICIENT, TRACKING_BAD, TRACKING_GOOD } |
| enum | UpdateResult { RESULT_NO_KEYFRAME, RESULT_IS_KEYFRAME, RESULT_FAILURE } |
Public Member Functions | |
| FrameHandlerBase () | |
| virtual | ~FrameHandlerBase () |
| const Map & | map () const |
| Get the current map. | |
| void | reset () |
| Will reset the map as soon as the current frame is finished processing. | |
| void | start () |
| Start processing. | |
| Stage | stage () const |
| Get the current stage of the algorithm. | |
| TrackingQuality | trackingQuality () const |
| Get tracking quality. | |
| double | lastProcessingTime () const |
| Get the processing time of the previous iteration. | |
| size_t | lastNumObservations () const |
| Get the number of feature observations of the last frame. | |
Protected Member Functions | |
| bool | startFrameProcessingCommon (const double timestamp) |
| Before a frame is processed, this function is called. | |
| int | finishFrameProcessingCommon (const size_t update_id, const UpdateResult dropout, const size_t num_observations) |
| When a frame is finished processing, this function is called. | |
| void | resetCommon () |
| Reset the map and frame handler to start from scratch. | |
| virtual void | resetAll () |
| Reset the frame handler. Implement in derived class. | |
| virtual void | setTrackingQuality (const size_t num_observations) |
| Set the tracking quality based on the number of tracked features. | |
| virtual void | optimizeStructure (FramePtr frame, size_t max_n_pts, int max_iter) |
| Optimize some of the observed 3D points. | |
Protected Attributes | |
| Stage | stage_ |
| Current stage of the algorithm. | |
| bool | set_reset_ |
| Flag that the user can set. Will reset the system before the next iteration. | |
| bool | set_start_ |
| Flag the user can set to start the system when the next image is received. | |
| Map | map_ |
| Map of keyframes created by the slam system. | |
| vk::Timer | timer_ |
| Stopwatch to measure time to process frame. | |
| vk::RingBuffer< double > | acc_frame_timings_ |
| Total processing time of the last 10 frames, used to give some user feedback on the performance. | |
| vk::RingBuffer< size_t > | acc_num_obs_ |
| Number of observed features of the last 10 frames, used to give some user feedback on the tracking performance. | |
| size_t | num_obs_last_ |
| Number of observations in the previous frame. | |
| TrackingQuality | tracking_quality_ |
| An estimate of the tracking quality based on the number of tracked features. | |
Base class for various VO pipelines. Manages the map and the state machine.
| virtual svo::FrameHandlerBase::~FrameHandlerBase | ( | ) | [virtual] |
| int svo::FrameHandlerBase::finishFrameProcessingCommon | ( | const size_t | update_id, |
| const UpdateResult | dropout, | ||
| const size_t | num_observations | ||
| ) | [protected] |
When a frame is finished processing, this function is called.
| size_t svo::FrameHandlerBase::lastNumObservations | ( | ) | const [inline] |
Get the number of feature observations of the last frame.
| double svo::FrameHandlerBase::lastProcessingTime | ( | ) | const [inline] |
Get the processing time of the previous iteration.
| const Map& svo::FrameHandlerBase::map | ( | ) | const [inline] |
Get the current map.
| virtual void svo::FrameHandlerBase::optimizeStructure | ( | FramePtr | frame, |
| size_t | max_n_pts, | ||
| int | max_iter | ||
| ) | [protected, virtual] |
Optimize some of the observed 3D points.
| void svo::FrameHandlerBase::reset | ( | ) | [inline] |
Will reset the map as soon as the current frame is finished processing.
| virtual void svo::FrameHandlerBase::resetAll | ( | ) | [inline, protected, virtual] |
Reset the frame handler. Implement in derived class.
Reimplemented in svo::FrameHandlerMono.
| void svo::FrameHandlerBase::resetCommon | ( | ) | [protected] |
Reset the map and frame handler to start from scratch.
| virtual void svo::FrameHandlerBase::setTrackingQuality | ( | const size_t | num_observations | ) | [protected, virtual] |
Set the tracking quality based on the number of tracked features.
| Stage svo::FrameHandlerBase::stage | ( | ) | const [inline] |
Get the current stage of the algorithm.
| void svo::FrameHandlerBase::start | ( | ) | [inline] |
Start processing.
| bool svo::FrameHandlerBase::startFrameProcessingCommon | ( | const double | timestamp | ) | [protected] |
Before a frame is processed, this function is called.
| TrackingQuality svo::FrameHandlerBase::trackingQuality | ( | ) | const [inline] |
Get tracking quality.
vk::RingBuffer<double> svo::FrameHandlerBase::acc_frame_timings_ [protected] |
Total processing time of the last 10 frames, used to give some user feedback on the performance.
vk::RingBuffer<size_t> svo::FrameHandlerBase::acc_num_obs_ [protected] |
Number of observed features of the last 10 frames, used to give some user feedback on the tracking performance.
Map svo::FrameHandlerBase::map_ [protected] |
Map of keyframes created by the slam system.
size_t svo::FrameHandlerBase::num_obs_last_ [protected] |
Number of observations in the previous frame.
bool svo::FrameHandlerBase::set_reset_ [protected] |
Flag that the user can set. Will reset the system before the next iteration.
bool svo::FrameHandlerBase::set_start_ [protected] |
Flag the user can set to start the system when the next image is received.
Stage svo::FrameHandlerBase::stage_ [protected] |
Current stage of the algorithm.
vk::Timer svo::FrameHandlerBase::timer_ [protected] |
Stopwatch to measure time to process frame.
An estimate of the tracking quality based on the number of tracked features.
1.7.6.1
